Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry seven-rod parallel connection structure

Abstract

The invention discloses a six-dimensional force sensor with the parallel-connected structure of seven rods that are integrally pre-tightened and asymmetrically arranged in an upper layer and a lower layer, which is characterized in that a force measuring platform (1) consists of a chassis and a supporting disk that are fixedly connected, three oblique ball socket holders (4) are evenly arranged on the upper surface and the lower surface of the chassis, and a round ball socket holder (6) is fixed at the center of the lower surface of the chassis; three oblique ball socket holders (4) are evenly arranged on the top inner loop surface of a pre-tightening platform (2); three oblique ball socket holders (4) are evenly arranged on the upper surface of a base (8), and a round ball socket holder (6) is fixed at the center of the upper surface of the base (8); a detecting component (3) and the oblique ball socket holders (4) as well as a middle detecting component (5) and the round ball socketholder (6) respectively form conehead-typed spherical pairs, and all the detecting components are connected with the pre-tightening platform (2), the force measuring platform (1) and the base (8) by bolts, pre-tightened and closed. The six-dimensional force sensor has simple structure, simple and convenient measuring principles, high measuring precision and larger loaded tilting moment, and can be applied to various situations that need six-dimensional force measurement in the fields of robots and aviation, etc.

Description

technical field [0001] The invention relates to the field of design and manufacture of a force sensor, in particular to a six-dimensional force sensor with an integrally pre-tightened double-layer upper and lower asymmetrical seven-bar parallel structure, which can be used to test three-dimensional force components and moment components in a space. Background technique [0002] Sensors play an important role in industrial production, national defense construction and science and technology. Sensor technology is one of the three pillars of modern information technology. The six-dimensional force sensor has become the most important type of sensor because it can perceive all the information of external force and torque, and can be used to monitor the force with changing direction and size and measure acceleration or inertial force. It is widely used in precision assembly, automatic grinding, contour tracking, two-hand coordination, zero force teaching and other operations, and...

AI Technical Summary

Problems solved by technology

Its measurement principle is simple, but there are the following main problems: the structure is relatively complex; the twelve spherical pairs need to be adjusted and pre-tightened separately, and the adjustment workload is large; the traditional spherical pairs have a large contact area and a large frictional moment, which is easy to produce large Stress coupling and inter-dimensional coupling are difficult to decouple; the traditional spherical pair is prone to gaps, which makes the zero-crossing performance of the force measuring platform poor. When the external force direction changes, the linearity is not good, and hysteresis is easy to occur, etc.

Chinese patent (ZL99102526.1) discloses an integral pretension platform type six-dimensional force sensor. Its structure is to add an intermediate pretension branch between the upper and lower platforms of the traditional Stewart platform structure, and use the pretension branch to pull Tighten the upper and lower platforms, pre-tighten the sensor as a whole, and pre-tighten each ball pair at the same time, eliminate the gap, and improve the overall rigidity of the sensor. However, the entire structure is pre-tightened and closed through the middle pre-tightening branch, and the required pre-tightening force is large. Moreover, the structure of the pre-tightening branch is relatively complicated, and it is difficult to ensure that it only bears the force along the axis direction, which affects the measurement accuracy

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